…s (NFC) (#4113)

)

The existing implementation will produce a cost of NaN if a tolerance of
infinity is entered, but the limit approaches zero. Being able to
specify that a state has no cost is useful, so this change adds support for
that.

The Joseph form of the error covariance update equation is more
numerically stable when the Kalman gain isn't optimal. Numerical
instability and filter divergence can occur if the user goes long time
periods between updates and the error covariance becomes ill-conditioned
(the ratio between the largest and smallest eigenvalue gets too large).

- Add InterpolatedTreeMap for Java from team 254's 2016 MIT licensed code
- Add InterpolatedMap for C++ from team 3512's code with @calcmogul (original author) permission

Co-authored-by: Tyler Veness <calcmogul@gmail.com>

)

…etpoint() (#4070)

Remove OBE RobotDrive porting guide from MecanumDrive

Rotation2d.fromRadians() doesn't exist. The constructor should be used
instead.

Fixes #4137.

Fixes #4112.

The math works just fine without model discretization.

value -> valid
(NFC)

Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>

This previously always returned false; the get method it inherited was not used in the getAsBoolean defined in the Trigger class. The fix is to swap get() and getAsBoolean() implementations in the Trigger class.

Closes #4108.

This is a less confusing name, as enabled() can imply it enables the compressor.

…d (NFC) (#4155)